bug fix for stomp sampling

src/curobo/util/sample_lib.py

@@ -510,7 +510,21 @@ def get_gaussian_samples(self, num_samples, variance=1.0):
 def gaussian_transform(
     uniform_samples: torch.Tensor, proj_mat: torch.Tensor, i_mat: torch.Tensor, variance: float
 ):
-    gaussian_halton_samples = proj_mat * torch.erfinv(2 * uniform_samples - 1)
+    """Compute a guassian transform of uniform samples.
+
+    Args:
+        uniform_samples (torch.Tensor): uniform samples in the range [0,1].
+        proj_mat (torch.Tensor): _description_
+        i_mat (torch.Tensor): _description_
+        variance (float): _description_
+
+    Returns:
+        _type_: _description_
+    """
+    # since erfinv returns inf when value is -1 or +1, we scale the input to not have
+    # these values.
+    changed_samples = 1.99 * uniform_samples - 0.99
+    gaussian_halton_samples = proj_mat * torch.erfinv(changed_samples)
     i_mat = i_mat * variance
     gaussian_halton_samples = torch.matmul(gaussian_halton_samples, i_mat)
     return gaussian_halton_samples